Recursive Formulation for the Inverse Kinematics of Redundant Robots Performing Tasks with Priority Order

[+] Author and Article Information
R. Garziera

Department of Industrial Engineering, Parma University, Parma, Italy

J. Mech. Des 116(1), 337-338 (Mar 01, 1994) (2 pages) doi:10.1115/1.2919369 History: Received January 01, 1992; Online June 02, 2008


A recursive arrangement is given for the inverse kinematic differential equations of redundant robots performing tasks with priority order. This formulation leads to simple and easy-to-handle equations, particularly suitable to be implemented in computer algorithms, for any number of sub-tasks. Moreover the recursive structure is extended to the solution at the acceleration level.

Copyright © 1994 by The American Society of Mechanical Engineers
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